Collision Avoidance in Dynamic Environment by Estimation of Velocity and Location of Object by Robot using Parallax

Abstract

Collision avoidance is a challenging problem in robot navigation. There are two type of collision avoidance approach i.e. path planning algorithm and control algorithm. Control algorithm proven very useful for dynamic environment. In control method robot use sensing to close a feedback path and interact with the environment. This sensing feedback loop can be completed by using Camera in robot.Visual parallax is very useful for generation of 3D information of environment for robotic system. Here the authors describe the use of visual parallax in humanoid robotic system for estimation of velocity and location of object that present in environment. The location and velocity of object gives the useful information to plan a collision free path by robot in that environment. Accuracy, robustness, and applicability of this method wastest by simulation. The authors show that this approach gives an accurate and robust estimation of velocity and a distance of object. This information simplifies the difficult task of collision avoidance in dynamic environment.